Sign up to receive free email alerts when patent applications with chosen keywords are publishedSIGN UP

Abstract:

A method of determining the own-vehicle position of a motor vehicle
having a navigation system fixedly installed in the motor vehicle
includes the steps of: providing a mobile terminal having the suitability
for self-localization; providing an interface for the
communication-related link-up of the mobile terminal to the motor
vehicle; determining the own-terminal position of the mobile terminal by
self-localization; transmitting the own-terminal position by way of the
interface to the motor vehicle; and taking into account the transmitted
own-terminal position when determining the own-vehicle position.

Claims:

1. A method of determining an own-vehicle position of a motor vehicle
with a fixedly installed navigation system, the method comprising the
acts of: receiving, via an interface, an own-terminal position of a
mobile terminal equipped for self-localization, the own-terminal position
having been determined by the mobile terminal; and determining an
own-vehicle position of the motor vehicle factoring into account the
received own-terminal position of the mobile terminal.

2. The method according to claim 1, wherein the received own-terminal
position of the mobile terminal was based on self-localization of the
mobile terminal based upon a wireless radio network.

3. The method according to claim 2, wherein the wireless radio network is
WLAN.

4. The method according to claim 1, further comprising the acts of:
performing vehicle navigation via the navigation system fixedly installed
in the motor vehicle using the own-vehicle position determined while
taking into account the received own-terminal position; and performing
operating input for the vehicle navigation solely via operating devices
of the motor vehicle.

5. The method according to claim 4, further comprising the act of:
providing graphic output of the vehicle navigation solely by way of
display devices of the motor vehicle.

6. The method according to claim 1, further comprising the acts of:
performing vehicle navigation via the navigation system fixedly installed
in the motor vehicle using the own-vehicle position determined while
taking into account the received own-terminal position; and providing
graphic output of the vehicle navigation solely via display devices of
the motor vehicle.

7. The method according to claim 1, further comprising the act of:
sending a request from the motor vehicle, via the interface, to the
mobile terminal in order to prompt the mobile terminal to transmit the
own-terminal position of the mobile terminal for receipt via the
interface.

8. The method according to claim 7, further comprising the acts of:
determining a need for receipt of the own-terminal position of the mobile
terminal by the motor vehicle; requesting, by the motor vehicle, the
receipt of the own-terminal position of the mobile terminal when it is
determined that the need exists.

9. The method according to claim 8, wherein the need exists when a
measurement of demand for receiving the own-terminal position exceeds a
predefined demand threshold.

10. The method according to claim 1, further comprising the acts of:
determining an accuracy of a position signal present at the motor
vehicle, which position signal is based on satellite signals and one or
more vehicle sensors; only receiving the own-terminal position determined
by the mobile terminal when the accuracy of the position signal is less
than a predefined accuracy threshold.

11. A method of determining an own-vehicle position of a motor vehicle
having a navigation system fixedly installed in the motor vehicle, the
method comprising the acts of: receiving, via a motor vehicle interface,
a request for an own-terminal position determination of a mobile terminal
equipped for self-localization; determining the own-terminal position of
the mobile terminal by the self-localization; and transmitting the own
terminal-position from the mobile terminal to the motor vehicle via the
interface, whereby the transmitted own-terminal position is utilizable
for determining the own-vehicle position of the motor vehicle.

12. The method according to claim 11, wherein the act of determining the
own-terminal position is based on a wireless radio network.

13. The method according to claim 12, wherein the wireless radio network
is WLAN.

[0002] The invention relates to a method of determining the own-vehicle
position of a motor vehicle having a navigation system fixedly installed
in the motor vehicle.

[0003] Modern motor vehicles are increasingly equipped with navigation
systems, frequently even in series. Navigation systems fixedly installed
in motor vehicles determine the position of the motor vehicle in which it
is installed (in the following, also called "own-vehicle position")
within the global area imaged on a road map, usually on the basis of GPS
or GNSS. Particularly in city center areas with blocks of high buildings,
in tunnels or parking garages, the problem may arise that
self-localization by GPS/GNSS is not easily possible, for example,
because of shadowing and multi-path effects. The same may apply, or may
especially apply, when the driver is driving into or out of a parking
garage in the center of town.

[0004] These types of problems can partly be solved in that additional
vehicle sensors (odometry sensors: steering angle, yaw rate, velocity,
wheel speeds, etc.) of the respective motor vehicle are used in order to
permit an updating of the own-vehicle position by means of a so-called
dead reckoning. This occurs also if the GPS/GNSS should fail. However, in
this manner, the accuracy of the self-localization can only be improved.
Lasting maximum accuracy of the self-localization cannot be guaranteed in
this manner--this is particularly true if the GPS/GNSS failures last for
a very long time, or if there are several street levels or parallel
streets situated side-by-side.

[0005] It is an object of the invention to provide a simple improved
method for determining the own-vehicle position of a motor vehicle.

[0006] This and other objects are achieved by a method of determining the
own-vehicle position of a motor vehicle having a navigation system
fixedly installed in the motor vehicle, the method includes the steps of:
providing a mobile terminal having suitable self-localization; providing
an interface for communication-related link-up of the mobile terminal to
the motor vehicle; determining the own-terminal position of the mobile
terminal by self-localization; transmitting the own-terminal position by
way of the interface to the motor vehicle; and taking into account the
transmitted own-terminal position when determining the own-vehicle
position.

[0007] According to the invention, the capability of the mobile terminal
for self-localization--which is independent, for example, of shadowing
and/or failures of a satellite signal (GPS/GNSS)--is utilized in order to
support the self-localization of the navigation system installed in the
motor vehicle.

[0008] From DE 10 2008 036 681 A1, as an example, a method is known for
self-localization based on wireless radio networks, particularly the
WLAN, especially for a mobile terminal. As a result of the increasing
spread of wireless networks based, for example, on the WLAN standard,
these wireless networks present themselves as a basis for new
localization methods. In addition to WLAN networks, mobile radio networks
(with known locations of the mobile radio masts) also present themselves
as wireless radio networks for self-localization. For mobile terminals,
it is also known to use a self-localization by way of GPS/GNSS combined
with a self-localization by way of wireless radio networks. Since
sometimes acceleration sensors and/or compasses are also installed in
mobile terminals, even--comparable with the odometry in the case of motor
vehicles--motion data of the mobile terminal can be used for the updating
of the own-terminal position. The potential of the equipment and
processes known from prior art for the self-localization of mobile
terminals has, however, so far not been utilized satisfactorily for
vehicle navigation.

[0009] It is true that complete navigation solutions for motor vehicles
are already available on the market, in the case of which a mobile
terminal, such as a Smartphone, is used in a vehicle adaptor in the
driver's field of vision in order to serve there as a navigation device.
However, these solutions are almost exclusively based on the capabilities
of the mobile terminal--specifically essentially on its capability to
determine the own-terminal position (by means of locating devices
arranged in the mobile terminal) and on its capability to graphically
display maps and/or navigation instructions (by means of a display of the
mobile terminal). This replaces a navigation system fixedly installed in
a motor vehicle. In contrast, in the case of the invention, the
navigation system fixedly installed in the motor vehicle will not be
replaced but be fully utilized and expanded in its capabilities.
Capabilities which do not exist according to the state of the art in the
case of a navigation system fixedly installed in a motor vehicle will be
supplemented by capabilities of the mobile terminal.

[0010] Operating input (such as the destination input and/or the selection
of the map alignment and/or the selection of the scale) within the scope
of a vehicle navigation, which is based on a self-localization taking
place according to the invention, preferably takes place exclusively by
way of operating devices of the motor vehicle. Graphic and/or acoustic
output to the operator within the scope of a vehicle navigation, which is
based on a self-localization occurring according to the invention,
preferably takes place exclusively by way of output devices (such as the
display and/or the loudspeaker) of the motor vehicle.

[0011] To this extent, the invention also relates to an overall system
suitable for implementing the method according to the invention, composed
of a navigation system fixedly installed in the vehicle and a mobile
terminal, in the case of which overall system, the own-vehicle position
determined while taking into account the transmitted own terminal
position, within the scope of a vehicle navigation, is used by the
navigation system fixedly installed in the vehicle. In such a case,
operating input within the scope of the vehicle navigation can take place
exclusively by way of operating devices of the motor vehicle--not by way
of the mobile terminal or its operating devices.

[0012] In addition, to this extent, the invention also relates to an
overall system suitable for implementing the method according to the
invention, composed of a navigation system fixedly installed in the
vehicle and a mobile terminal, in the case of which overall system, the
own-vehicle position determined while taking into account the transmitted
own terminal position, within the scope of a vehicle navigation, is used
by the navigation system fixedly installed in the vehicle. In such a
case, graphic and/or acoustic output to the operator within the scope of
the vehicle navigation exclusively takes place by way of output devices
of the motor vehicle--not by way of the mobile terminal or its output
devices.

[0013] In the case of the motor vehicle, a preferably dedicated interface
is provided according to the invention for integrating the mobile
terminal. By way of this interface, preferably particularly the
own-position data of the mobile terminal determined by
radio-network-based self-localization can be transmitted to the motor
vehicle, particularly to the navigation system fixedly installed in the
motor vehicle. From BMW's International Patent Publications WO
2006/063601 A1, WO 2006/063602 A1 and WO 2006/063603 A1, systems and
methods are known for integrating a mobile terminal in a motor vehicle.
The interface may be wireless or wire-based.

[0014] Furthermore, by way of the above-mentioned interface, a request of
the motor vehicle or of the navigation system fixedly installed in the
motor vehicle can be transmitted to the mobile terminal, by which request
the mobile terminal is prompted to send own-terminal position data to the
motor vehicle or to the navigation system fixedly installed in the motor
vehicle. The motor vehicle can thereby request own-terminal position data
particularly (or exclusively) if there is a corresponding demand. In this
manner, the data volume transmitted by way of the interface can be
reduced. Likewise, in this manner, an improved on-time providing of the
required own-terminal position data by the mobile terminal to the motor
vehicle can be achieved.

[0015] According to a preferred embodiment of the invention, by way of the
interface, a request of the motor vehicle is sent to the mobile terminal
by which the mobile terminal is prompted to transmit own-terminal
position data by way of the interface.

[0016] For determining the demand for own-terminal position data, a demand
detection unit may be provided in the case of the motor vehicle. This
demand detection unit can especially be constructed as a software module
of the navigation software of the navigation system fixedly installed in
the motor vehicle. The demand can be determined according to the
situation. For the determination, different quantities can be analyzed,
which can be detected by measuring or exist in the case of the motor
vehicle anyhow. Demand can, for example, be recognized when the
navigation system fixedly installed in the motor vehicle does not succeed
in achieving a self-localization. However, demand can, in principle, also
be assumed when a mobile terminal is connected to the interface and/or
when the motor vehicle is situated in a populated area (especially in the
center of a city). Various indicators of such a demand can contribute to
a common measurement for the demand.

[0017] Thus, according to a further preferred embodiment of the invention,
a demand or a measurement of the demand for receiving own-terminal
position data is determined in the case of the motor vehicle, and a
request of the motor vehicle is sent to the mobile terminal if the demand
exists or if the measurement of the demand exceeds a predefined demand
threshold.

[0018] The accuracy--to be determined beforehand--of a position signal
based on satellite signals and present in the motor vehicle can be used
as an indicator of, or as an influential quantity on, a measurement of
the demand. If the accuracy falls below, for example, a predefined
accuracy threshold, a demand can be assumed.

[0019] As an alternative or in addition to an active request according to
the demand, the taking-into-account of the transmitted own-terminal
position may also have a different form depending on the situation when
determining the own-vehicle position.

[0020] For example, own-terminal position data--if available--can
basically always be transmitted to the vehicle but can be taken into
account only when the navigation system fixedly installed in the motor
vehicle does not succeed in a self-localization, when a mobile terminal
is connected to the interface, and/or when the motor vehicle is situated
in a populated area (especially in the center of a city).

[0021] Furthermore, the request and/or the taking into account of an
own-terminal position may depend on what accuracy a position signal has
that is present in the case of the motor vehicle and is based on
satellite signals (particularly GPS/GNSS). If an own-terminal position
has been transmitted to the motor vehicle and a position signal based on
satellite signals is present at the motor vehicle, their accuracies can
be determined, compared, and the more accurate signal can be used. A
higher-expenditure fusion of both signals is basically also contemplated.

[0022] According to a preferred embodiment of the invention, the accuracy
of a position signal based on satellite signals and present at the
vehicle is therefore determined, and the transmitted own-terminal
position will then only be determined when determining the own-vehicle
position if the accuracy of the position signal based on satellite
signals falls below a predefined accuracy threshold.

[0023] The self-localization according to the invention, in the extreme
case, takes place completely unnoticed by the operator or in a manner not
noticeably different from that in the case of conventional fixedly
installed vehicle navigation systems--unless the operator notices that
the overall navigation system (composed of the navigation system fixedly
installed in the motor vehicle and of the mobile terminal) presenting
itself to him has a better capability for self-localization when the
mobile terminal is present in the motor vehicle.

[0024] In order to, among other things, signal to the operator that the
equipping of his navigation system according to the invention results in
an increased value for him, a visual display can be provided, ideally can
be integrated in the graphic output of the navigation system, by which it
is indicated to the operator that (or when) the own-terminal position is
actually received and/or taken into account by the vehicle navigation
system. As an alternative or in addition, a corresponding logging can be
carried out, and the operator can, for example, later retrieve in a
menu-controlled manner whether, when or how often the own-terminal
position has actually been received and/or taken into account by the
vehicle navigation system.

[0025] When the mobile terminal is not present in the motor vehicle or
when, because of a lack of radio network signals, it does not succeed in
self-localization, the self-localization of the navigation system fixedly
installed in the motor vehicle will preferably take place in a manner
known per se exclusively based on satellite signals and, if necessary,
odometry.

[0026] Other objects, advantages and novel features of the present
invention will become apparent from the following detailed description of
one or more preferred embodiments when considered in conjunction with the
accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWING

[0027]FIG. 1 is a flow chart illustrating an exemplary method of
determining an own-vehicle position of a motor vehicle according to the
invention.

DETAILED DESCRIPTION OF THE DRAWING

[0028] A motor vehicle includes a navigation system. The motor vehicle has
the suitability for self-localization on the basis of GPS/GNSS, as well
as an interface for linking up a mobile terminal. In addition, it is
assumed that the mobile terminal itself is suitable for self-localization
on the basis of WLAN (if necessary, combined with additional methods for
self-localization and/or position tracking).

[0029] Referring to FIG. 1, a method of determining the own-vehicle
position of the motor vehicle is illustrated. The method begins 10 by
determining an own-terminal position of a mobile terminal equipped for
self-localization 12. The determined own-terminal position of the mobile
terminal is transmitted to and received in the motor vehicle, which is
equipped with a fixedly installed navigation system, via an interface 14.
The own-vehicle position is then determined taking into account the
received own-terminal position 16, before ending 18.

[0030] The self-localization on the basis of WLAN represents the presently
preferred case of self-localization based on wireless radio networks.
However, an aspect of the invention also includes an alternative or
additional self-localization on the basis of mobile radio. Also, wireless
technologies developed or reaching marketability in the future, such as
the RFID, UWB, etc. can be integrated if the mobile terminal is
correspondingly constructed. In the case of such a further development of
the invention, a vehicle self-localization improved according to the
invention could, in particular, also be retrofitted.

[0031] By way of the interface, the mobile terminal transmits its position
to the motor vehicle and the motor vehicle uses it in critical situations
in order to improve the self-localization of the vehicle.

[0032] In this case, the main attention is focused on the use of the WLAN
self-localization method of the mobile terminal. Today's vehicles or
their navigation systems normally have no WLAN antenna and also, not
necessarily, a data connection. Mobile terminals, such as the so-called
iPHONE® manufactured by APPLE, however, have both a WLAN antenna and
a data connection and can be linked up with a motor vehicle by way of
interfaces and communication processes known per se.

[0033] WLAN self-localization methods or systems normally function
relatively well precisely in those situations which are critical for the
satellite-based self-localization of a vehicle,--specifically in city
centers with high building densities and high buildings. In city center
areas, the coverage with WLAN base stations is normally very high and
there is good data link-up. The data connection is often required for
WLAN localization because a detection of WLAN signals takes place, for
example, by the mobile terminal, but these signals are transmitted to a
server by which the position can be determined. As an alternative, a data
bank for WLAN positioning can also be stored on the mobile terminal.

[0034] Although WLAN self-localization often functions only during
stoppages or at low speeds (and the accuracy is often poorer than that of
a GPS self-localization); in city centers, however, the driving usually
takes place at low speeds, particularly when driving in and out of
parking garages. In addition, in the case of a high density of WLAN
hotspots, as can be found in the centers of cities, the accuracy of a
WLAN self-localization will increase.

[0035] A WLAN-based self-localization can therefore be very valuable if no
GPS signal at all is available. A reference position that is as accurate
as possible can then be obtained on WLAN basis, which can then easily be
updated for a longer time period by means of odometry.

[0036] Summarizing, by way of the invention, a clearly improved
self-localization of the vehicle is made possible in critical situations.
The invention has special advantages in the case of double-track motor
vehicles, particularly automobiles, since these are currently already
equipped for the link-up of mobile terminals.

[0037] The invention also has special advantages in the case of
single-track motor vehicles, particularly motorcycles, because currently
their navigation systems often have a still less pronounced capability or
accuracy of self-localization than, for example, navigation systems of
automobiles.

[0038] The foregoing disclosure has been set forth merely to illustrate
the invention and is not intended to be limiting. Since modifications of
the disclosed embodiments incorporating the spirit and substance of the
invention may occur to persons skilled in the art, the invention should
be construed to include everything within the scope of the appended
claims and equivalents thereof.

Patent applications by Bernd Biechele, Muenchen DE

Patent applications by Carsten Isert, Muenchen DE

Patent applications by Bayerische Motoren Werke Aktiengesellschaft

Patent applications in class Means to improve accuracy of position or location

Patent applications in all subclasses Means to improve accuracy of position or location